# Attack on Scene Flow using Point Clouds

arXiv: https://arxiv.org/abs/2404.13621 · HTML: https://mlsanity.com/paper/2404.13621/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 19 references that are in the map.
- First posted on arXiv 21 Apr 2024.

## Builds on (most cited first, 16 of 16)

- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [Universal adversarial perturbations](https://mlsanity.com/paper/1610.08401/) (2016)
- [FlowNet3D: Learning Scene Flow in 3D Point Clouds](https://mlsanity.com/paper/1806.01411/) (2018)
- [FLOT: Scene Flow on Point Clouds Guided by Optimal Transport](https://mlsanity.com/paper/2007.11142/) (2020)
- [RAFT-3D: Scene Flow using Rigid-Motion Embeddings](https://mlsanity.com/paper/2012.00726/) (2020)
- [HPLFlowNet: Hierarchical Permutohedral Lattice FlowNet for Scene Flow Estimation on Large-scale Point Clouds](https://mlsanity.com/paper/1906.05332/) (2019)
- [Extending Adversarial Attacks and Defenses to Deep 3D Point Cloud Classifiers](https://mlsanity.com/paper/1901.03006/) (2019)
- [Universal Adversarial Training](https://mlsanity.com/paper/1811.11304/) (2018)
- [FlowStep3D: Model Unrolling for Self-Supervised Scene Flow Estimation](https://mlsanity.com/paper/2011.10147/) (2020)
- [Attacking Optical Flow](https://mlsanity.com/paper/1910.10053/) (2019)
- [Adversarial Attacks and Defenses on 3D Point Cloud Classification: A Survey](https://mlsanity.com/paper/2307.00309/) (2023)
- [Interpretation of Neural Networks is Susceptible to Universal Adversarial Perturbations](https://mlsanity.com/paper/2212.03095/) (2022)

## Built on by (most cited first, 1 of 1)

- [Test-Time Defense Against Adversarial Attacks via Stochastic Resonance of Latent Ensembles](https://mlsanity.com/paper/2510.03224/) (2025)

## Abstract (arXiv)

Deep neural networks have made significant advancements in accurately estimating scene flow using point clouds, which is vital for many applications like video analysis, action recognition, and navigation. The robustness of these techniques, however, remains a concern, particularly in the face of adversarial attacks that have been proven to deceive state-of-the-art deep neural networks in many domains. Surprisingly, the robustness of scene flow networks against such attacks has not been thoroughly investigated. To address this problem, the proposed approach aims to bridge this gap by introducing adversarial white-box attacks specifically tailored for scene flow networks. Experimental results show that the generated adversarial examples obtain up to 33.7 relative degradation in average end-point error on the KITTI and FlyingThings3D datasets. The study also reveals the significant impact that attacks targeting point clouds in only one dimension or color channel have on average end-point error. Analyzing the success and failure of these attacks on the scene flow networks and their 2D optical flow network variants shows a higher vulnerability for the optical flow networks. Code is available at https://github.com/aheldis/Attack-on-Scene-Flow-using-Point-Clouds.git.